CMPE-633-Fall2011
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Roadmaps for trajectory generation; trajectory planning. | Roadmaps for trajectory generation; trajectory planning. | ||
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| align ="left" | Rigid body dynamics; Euler-Lagrange equations; kinetic and potential energy. | | align ="left" | Rigid body dynamics; Euler-Lagrange equations; kinetic and potential energy. | ||
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| align ="left" | Week 10. Nov 7 | | align ="left" | Week 10. Nov 7 | ||
| align ="left" | Eid-ul-Azha holidays Nov 7-9; | | align ="left" | Eid-ul-Azha holidays Nov 7-9; | ||
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| align ="left" | Week 11. Nov 14 | | align ="left" | Week 11. Nov 14 | ||
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- | | align ="left" | | + | | align ="left" | Independent joint control; actuator dynamics; set point tracking; drive train dynamics; PD, PID control techniques. |
'''Lec 23.''' | '''Lec 23.''' | ||
Revision as of 13:25, 13 October 2011
CMPE-633B: Topics in Robotics and Control | |
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Fall 2011: Robot Kinematics, Dynamics and Control |
Instructor
Dr Abubakr Muhammad, Assistant Professor of Electrical Engineering
Email: abubakr [at] lums.edu.pk
Office: Room 9-309A, 3rd Floor, SSE Bldg
Office Hours:
Teaching assistant.
Course Details
Year: 2011-12
Semester: Fall
Category: Grad
Credits: 3
Elective course for electrical engineering, computer engineering and computer science majors
Course Website: http://cyphynets.lums.edu.pk/index.php/CMPE-633-Fall2011
Course Description
Generic
A research-methods based course to study advanced topics in robotics and control system design with emphasis on field robotics, unmanned aerial and ground vehicles, planning algorithms, autonomous systems, telerobotics, Human Robot Interaction (HRI) and other related areas. The course prepares students to do independent work at the frontiers of robotics and control research.
This year
This course introduces essential concepts and analytical tools to understand the dynamics and associated control systems for common robot tasks such as manipulation, grasping and locomotion. Topics include forward and inverse kinematics; path planning, collision avoidance and trajectory generation; robot body and actuator dynamics; sensory feedback and trajectory tracking; stability, disturbance rejection and force control.
Objectives
- Introduce mathematical foundation of robot motion and control in a general setting.
- Introduce ideas of configuration space, path planning and trajectory generation.
- Teach use of geometric and dynamical models in robotics.
- Highlight control theoretic issues in trajectory planning and sensory feedback.
- Introduce practical applications of robotics in mobile manipulation tasks, tele-operation, automated assembly, manufacturing, home and service industry.
Pre-requisites
- Grads. CMPE435 (Robotics) OR CMPE432 (Feedback design) OR CMPE-633 (Fall 2011) OR permission of instructor
- Undergrads. EE361 (Feedback control) AND permission of instructor
Text book
The course will be taught from a combination of the following textbooks.
Primary Texts
- Robot Dynamics and Control by Spong et al. (Available as free legal download)
- Robotics: Modelling, Planning and Control by Siciliano et al.
Secondary Texts
- Principles of Robot Motion by Choset et al. (Available as low priced edition)
- A Mathematical Introduction to Robotic Manipulation by Murray, Li and Sastry. (Available as free legal download)
- Introduction to Robotics: Mechanics and Control by John Craig
- Research papers.
Resources
Similar Courses
Stanford: Introduction to Robotics.
Grading Scheme
- Assignments: 20%
- Midterm: 20%
- Final Exam: 30%
- Group Project: 30%
- Proposal. 10%
- Report. 20%
- Presentation. 20%
- Demo/working. 50%
Course Delivery Method
Lectures. Labs
Schedule
WEEK | LUMS CALENDAR | TOPICS | READINGS/REFERENCES |
---|---|---|---|
Week 1. Sept 5 | Start of classes Sept 7; | Introduction to robotic systems; rigid body motions and transformations.
Lec 1. Introduction; robotics and autonomous systems; | |
Week 2. Sept 12 | Drop deadline Sept 14; Classes cancelled due to Dengue outbreak | Lec 2. workspaces; configuration spaces; planning algorithms; | |
Week 3. Sept 19 | No classes due to Dengue Outbreak. | ||
Week 4.Sept 26 | Classes resumed; Semester pushed back by one week | Lec 3. | |
Week 5. Oct 3 | Forward kinematics; inverse kinematics; velocity kinematics.
Lec 4. Lec 5. | ||
Week 6. Oct 10 |
Lec 6. Lec 7. | HW1 | |
Week 7. Oct 17 | Lec 8.
| ||
Week 8. Oct 24 |
Roadmaps for trajectory generation; trajectory planning.
Lec 11. Lec 12. Workshop / minicourse Lec 1 Lec 13. Workshop / minicourse Lec 2 Lec 14. Workshop / minicourse Lec 3
| ||
Week 9. Oct 31 | Rigid body dynamics; Euler-Lagrange equations; kinetic and potential energy.
Lec 15. Minicourse Lec 4 Lec 16. Minicourse Lec 5
| ||
Week 10. Nov 7 | Eid-ul-Azha holidays Nov 7-9; |
Lec 18. | |
Week 11. Nov 14 | Midterms |
Lec 19. Lec 20. | |
Week 12. Nov 21 |
Lec 21. Lec 22. | ||
Week 13. Nov 28 | Independent joint control; actuator dynamics; set point tracking; drive train dynamics; PD, PID control techniques.
Lec 23. Nonlinear multivariable control problem; stability and tracking; inverse dynamics; passitivity based control; robust and adaptive control. Lec 24. | ||
Week 14. Dec 5 | Ashura holidays Dec 5-6; | Lec 25. | |
Week 15. Dec 12 | Introduction to force control techniques.
Lec 26. Lec 27. | ||
Week 16. Dec 19 | Last day of classes Dec 20; Reading/review Dec 21-24; | Lec 28. | |
Week 17. Dec 26 | Final Exams Dec 26-Jan 02; Grade submission deadline Jan 13; |